CN109572642A - Control method, device and the vehicle with it of vehicle braking - Google Patents
Control method, device and the vehicle with it of vehicle braking Download PDFInfo
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- CN109572642A CN109572642A CN201811317053.0A CN201811317053A CN109572642A CN 109572642 A CN109572642 A CN 109572642A CN 201811317053 A CN201811317053 A CN 201811317053A CN 109572642 A CN109572642 A CN 109572642A
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- Prior art keywords
- vehicle
- distance
- barrier
- lane line
- present image
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
Abstract
The invention discloses a kind of control method of vehicle braking, device and with its vehicle, wherein method includes: the present image and lane line information for acquiring vehicle front；Detect the current distance of multiple barriers and vehicle；Current location of each barrier in present image is determined according to current distance, and determines that current location can collide according to lane line information, and when current distance reaches braking distance, controls vehicle braking.This method can accurately identify the relative positional relationship of front obstacle Yu this vehicle direction lane, and then the accurate abrupt deceleration vehicle of relationship depending on the relative position, avoid the occurrence of and accidentally brake or leak brake, improve the safety and reliability of vehicle, promote user experience.
Description
Technical field
The present invention relates to automobile technical field, in particular to a kind of control method of vehicle braking, device and with its
Vehicle.
Background technique
In the related technology, many vehicles have the function of automatic emergency brake, examine specifically by millimetre-wave radar sensor
Vehicle-periphery is surveyed, assesses the potential risk of collision degree of vehicle and front obstacle in real time, once risk of collision degree reaches
To needing to achieve the purpose that deceleration collision avoidance by vehicle braking come when avoiding, the braking system of vehicle will do it emergency braking.
However, since millimetre-wave radar sensor according to echo information judges whether there is front obstacle, but can not
The relative positional relationship for judging front obstacle Yu this vehicle direction lane causes when multiple target ranges are close, cannot be accurate
It identifies major obstacle object, interference is generated to the judgement of automatic emergency brake function, it may appear that the phenomenon that accidentally braking or leaking brake, drop
The safety and reliability of low vehicle, it would be highly desirable to solve.
Summary of the invention
The application is to be made based on inventor to the understanding of following problems and discovery:
Since millimetre-wave radar is according to echo information judgment object presence or absence, front vehicles and we can not be judged
To the relative positional relationship in lane, objects in front and lane line information, and and radar information are identified to camera before now needing
It merges to determine target object attribute jointly, and then determines major heading, provide advantageous information to functions such as automatic emergency brakes and make
For judgement input.
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, this method can be according to phase an object of the present invention is to provide a kind of control method of vehicle braking
To the accurate abrupt deceleration vehicle of positional relationship, avoids the occurrence of and accidentally brake or leak brake, improve the safety and reliability of vehicle, promoted
User experience.
It is another object of the present invention to the control devices for proposing a kind of vehicle braking.
Another object of the present invention is to propose a kind of vehicle
In order to achieve the above objectives, one aspect of the present invention embodiment proposes a kind of control method of vehicle braking, comprising: adopts
Collect the present image and lane line information of vehicle front；Detect the current distance of the multiple barrier and the vehicle；According to
The current distance determines current location of each barrier in the present image, and is determined according to the lane line information
The current location can collide, and when the current distance reaches braking distance, control the vehicle braking.
The control method of the vehicle braking of the embodiment of the present invention, according to present image judge whether can in same lane
Barrier collide, to accurately identify the relative positional relationship of front obstacle Yu this vehicle direction lane, once it is determined that
When can collide and reach braking distance, vehicle braking is controlled, realizes the mesh of the accurate abrupt deceleration vehicle of relationship depending on the relative position
, it avoids the occurrence of and accidentally brakes or leak brake, improve the safety and reliability of vehicle, promote user experience.
In addition, the control method of vehicle braking according to the above embodiment of the present invention can also have following additional technology
Feature:
Further, in one embodiment of the invention, described to determine that each barrier exists according to the current distance
Current location in the present image further comprises: identifying each barrier and described according to the present image
The present image distance of vehicle；If the difference of the present image distance and the current distance meets the first preset condition,
And the relative angle of distance detector and image acquisition device meets the second preset condition, then barrier and inspection in the present image
The barrier of survey is corresponding, to obtain the current location.
Further, in one embodiment of the invention, described that the present bit is determined according to the lane line information
Setting can collide, and further comprise: whether disturbance in judgement object is in lane line；If the barrier is in the lane line
It is interior, then obtain the center line of the barrier and the offset of lane center；It is less than or waits in the absolute value of the offset
When the first preset value, judgement can collide.
Further, in one embodiment of the invention, further includes: if the lane line information only includes side vehicle
Diatom then identifies the width of the barrier according to the lateral distance of the barrier and the side lane line；If described
The sum of the width of barrier and the lateral distance are less than or equal to the second preset value, then judge whether to collide.
In addition, in one embodiment of the invention, further includes: if the lane line information does not include two sides lane
Line, and the current distance be less than preset threshold when, using the lateral distance be less than pre-determined distance multiple barriers as singly
A object, and judge whether to collide.
In order to achieve the above objectives, another aspect of the present invention embodiment proposes a kind of control device of vehicle braking, comprising:
Acquisition module, for acquiring the present image and lane line information of vehicle front；Detection module, for detecting the multiple obstacle
The current distance of object and the vehicle；Control module, for determining each barrier described current according to the current distance
Current location in image, and determine that the current location can collide according to the lane line information, and it is described currently away from
When from reaching braking distance, the vehicle braking is controlled.
The control device of the vehicle braking of the embodiment of the present invention, according to present image judge whether can in same lane
Barrier collide, to accurately identify the relative positional relationship of front obstacle Yu this vehicle direction lane, once it is determined that
When can collide and reach braking distance, vehicle braking is controlled, realizes the mesh of the accurate abrupt deceleration vehicle of relationship depending on the relative position
, it avoids the occurrence of and accidentally brakes or leak brake, improve the safety and reliability of vehicle, promote user experience.
In addition, the control device of vehicle braking according to the above embodiment of the present invention can also have following additional technology
Feature:
Further, in one embodiment of the invention, the control module includes: recognition unit, for according to institute
State the present image distance that present image identifies each barrier and the vehicle；First acquisition unit, for described
The difference of present image distance and the current distance meets the first preset condition, and the phase of distance detector and image acquisition device
When meeting the second preset condition to angle, barrier is corresponding with the barrier of detection in the present image, described to obtain
Current location.
Further, in one embodiment of the invention, the control module further include: judging unit, for judging
Whether barrier is in lane line；Second acquisition unit, for obtaining the barrier when the barrier is in the lane line
Hinder the center line of object and the offset of lane center；Detection unit, for being less than or equal in the absolute value of the offset
When the first preset value, judgement can collide.
Further, in one embodiment of the invention, further includes: the first identification module, in the lane line
When information only includes side lane line, the barrier is identified according to the lateral distance of the barrier and the side lane line
Width, and the sum of the width of the barrier and the lateral distance be less than or equal to the second preset value when, make the control
Molding block judges whether to collide；Second identification module, if not including two sides lane line for the lane line information,
And the current distance be less than preset threshold when, using the lateral distance be less than pre-determined distance multiple barriers as single object
Body, and judge whether to collide.
Further aspect of the present invention embodiment proposes a kind of vehicle comprising the control device of above-mentioned vehicle braking.It should
Vehicle can judge whether collide with the barrier in same lane according to present image, to accurately identify front
The relative positional relationship of barrier and this vehicle direction lane, once it is determined that controlling vehicle when can collide and reach braking distance
Braking, realizes the purpose of the accurate abrupt deceleration vehicle of relationship depending on the relative position, avoids the occurrence of and accidentally brakes or leakage brake, improves vehicle
Safety and reliability, promoted user experience.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow chart according to the control method of the vehicle braking of the embodiment of the present invention；
Fig. 2 is the schematic illustration according to the vehicle braking of one embodiment of the invention；
Fig. 3 is the schematic illustration according to the vehicle braking of another embodiment of the present invention；
Fig. 4 is the schematic illustration according to the vehicle braking of further embodiment of the present invention；
Fig. 5 is the schematic illustration according to the vehicle braking of another embodiment of the invention；And
Fig. 6 is the structural schematic diagram according to the control device of the vehicle braking of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The control method of the vehicle braking proposed according to embodiments of the present invention, device are described with reference to the accompanying drawings and there is it
Vehicle, the control method of the vehicle braking proposed according to embodiments of the present invention is described with reference to the accompanying drawings first.
Fig. 1 is the flow chart of the control method of the vehicle braking of the embodiment of the present invention.
As shown in Figure 1, the control method of the vehicle braking includes:
In step s101, the present image and lane line information of vehicle front are acquired.
In an embodiment of the present invention, the embodiment of the present invention can identify object and vehicle by the information of camera shooting acquisition
Diatom information will do it in detail below so as to determine the lane line attribute of a certain specific object according to lane line information
It repeats.
In step s 102, the current distance of multiple barriers and vehicle is detected.
In an embodiment of the present invention, the information except through camera shooting acquisition identifies object and lane line information, this
Inventive embodiments can acquire the current distance of object and vehicle, the object information and camera that radar is judged by radar
Determining object information fusion realizes root to accurately identify the relative positional relationship of front obstacle Yu this vehicle direction lane
According to the purpose of the accurate abrupt deceleration vehicle of relative positional relationship, avoid the occurrence of and accidentally brake or leakage brake, improve vehicle safety and
Reliability promotes user experience.
In step s 103, current location of each barrier in present image is determined according to current distance, and according to
Lane line information determines that current location can collide, and when current distance reaches braking distance, controls vehicle braking.
It is understood that the object information that object information and camera that the embodiment of the present invention judges according to radar determine
Fusion, is described in detail herein.
Further, in one embodiment of the invention, determine each barrier in present image according to current distance
In current location, further comprise: identifying the present image distance of each barrier and vehicle according to present image；If worked as
The difference of preceding image distance and current distance meets the first preset condition, and the relative angle of distance detector and image acquisition device
Meet the second preset condition, then barrier is corresponding with the barrier of detection in present image, to obtain current location.
For example, the standard of fusion can be according to range information DRadarAnd DCamera(DRadarIt is the distance of radar judgment object；
DCameraIt is the distance of camera judgment object).Wherein, it is contemplated that control information of two kinds of sensors to object information, DRadarWith
DCameraThe absolute value of difference is defined as Delta D.ARadarAnd ACameraIt is the relative angle of radar and camera judgment object respectively
Degree.ARadarAnd ACameraDelta A is defined as with the absolute value of difference.
In addition, the first preset condition and the second preset condition can be configured according to the actual situation, do not do herein specific
Limitation.For example, when 0≤Delta D≤0.25m&0≤A≤0.2 ° Delta, it can be determined that two articles are same objects
Body determines current location.
Further, in one embodiment of the invention, determine that current location can collide according to lane line information,
Further comprise: whether disturbance in judgement object is in lane line；If barrier in lane line, obtains the center line of barrier
With the offset of lane center；When the absolute value of offset is less than or equal to the first preset value, judgement can collide.
In an embodiment of the present invention, the lane line information identified according to camera, it can be determined that whether go out the object
In lane line and judge object centerline and lane center line deviation Offset.Wherein, when this vehicle center line is in vehicle
When on the left of road center line, Offset is positive value, is otherwise negative value.Deviation ratio Offset is determined according to offset Offset
Rate.In addition, camera can identify lane width DLane, this vehicle-width DegoInformation can be provided by system.
For example, when Offset absolute value is greater than 0.75 times of DLaneWhen, that is, judge target in the left side or right side in lane,
I.e. not in this lane, automatic emergency brake function is not activated, and effectively avoids situations such as accidentally braking or leaking brake, improves vehicle
Safety and reliability, promoted user experience.
That is, the embodiment of the present invention can be merged by radar and camera after determining target, according to target offset
Lane information judges whether it is effective target, the confirmation of major heading is carried out to effective target, and then to automatic emergency brake
Function decision judges foundation, effectively avoids situations such as accidentally braking or leaking brake, improves the safety and reliability of vehicle,
Promote user experience.
In addition, in one embodiment of the invention, the method for the embodiment of the present invention further include: if lane line information is only
Comprising side lane line, then according to the width of barrier and the lateral distance cognitive disorders object of side lane line；If barrier
Width and the sum of lateral distance be less than or equal to the second preset value, then judge whether to collide.It is understood that the
Two preset values can be the lane width of presupposition multiple.
It is understood that the embodiment of the present invention can be obtained by camera in the case of lane line lacks one
Target vehicle-width, such as (Dlateral+Dtaegt1)/DLaneWhen≤0.75, it is defined as effective target, and can further judge
Whether it is major heading.As (Dlateral+Dtaegt1)/DLaneWhen > 0.75, effective target, automatic emergency can not be regarded it as
It formulates function not consider, effectively improves the applicability and reliability of control.
Further, in one embodiment of the invention, the method for the embodiment of the present invention further include: if lane line is believed
Breath do not include two sides lane line, and current distance be less than preset threshold when, by lateral distance be less than pre-determined distance multiple obstacles
Object judges whether to collide as single body.
For example, when front truck this vehicle of fore-and-aft distance distance is close to (within 0.5m): when front truck target lateral distance
When Dtargets≤0.5 meter, same object, the distance property consideration nearest apart from this vehicle according to two vehicles are regarded it as.And then it can sentence
Whether disconnected is major heading.When front truck target range Dtargets > 0.5 meter, lateral distance is examined with that the smallest target of this vehicle
Worry further calculates whether it is major heading.Other target does not consider calculating major heading.
When front truck this vehicle of fore-and-aft distance distance is close to (be greater than 0.5m): nearest consideration is further with this vehicle fore-and-aft distance
Calculate whether it is major heading.
The working principle of the method for the embodiment of the present invention is described in detail with reference to the accompanying drawing.
As shown in Fig. 2, 1 be camera 2 is millimetre-wave radar, 3 be this vehicle, and 4 be the automatic emergency of the embodiment of the present invention
Brake control.
Firstly, being merged according to the object information that the object information of radar judgement and camera determine.The standard foundation of fusion
Range information DRadarAnd DCamera(DRadarIt is the distance of radar judgment object；DCameraIt is the distance of camera judgment object).It examines
Consider control information of two kinds of sensors to object information, DRadarAnd DCameraThe absolute value of difference is defined as Delta D.ARadar
And ACameraIt is the relative angle of radar and camera judgment object respectively.ARadarAnd ACameraThe absolute value of difference be defined as
Delta A。
When 0≤Delta D≤0.25m&0≤A≤0.2 ° Delta, it may determine that two articles are in this way
Otherwise same object is not same object.
Judge whether it is effective target according to following situation.Then to being judged as that effective target object carries out major heading
It determines.According to TTC (Time to Collision, Ben Che and target carriage relative distance/Ben Che and target carriage relative velocity), TTC
The smallest target is determined as major heading candidate.
One, the case where two sides lane line all exists:
As shown in figure 3, firstly, camera can identify object and lane line information according to the information of acquisition.According to vehicle
Diatom information can determine the lane line attribute of a certain specific object.
The lane line information identified according to camera, it can be determined that go out whether the object in lane line and is judged
Object centerline and lane center line deviation Offset.When this vehicle center line is on the left of lane center, Offset is positive
Value, is otherwise negative value.Deviation ratio Offset Rate (Offset/D is determined according to offset OffsetLane* 100%).
Camera can identify lane width DLane, this vehicle-width DegoInformation is provided by system.
As D of the Offset absolute value less than 0.5 timesLaneWhen, that is, judge target in lane.
Two, the case where lacking for lane line judges:
As shown in figure 4, camera can provide front truck 1, and (lateral distance and left-hand lane line are nearest according to information in figure
, with the point of front truck leftmost edge transverse direction and lane line intersection point lateral distance Dlateral), the target vehicle-width identified
Dtaegt1。
As (Dlateral+Dtaegt1)/DLaneWhen≤0.75, it is defined as effective target, and can further judge that it is
No is major heading.As (Dlateral+Dtaegt1)/DLaneWhen > 0.75, effective target is not regarded it as, automatic emergency formulates function
Do not consider.It does not also pay attention to for vehicles such as front trucks 2.
Similarly, the above judgement is also suitable right-hand lane deletion condition.
Three, there is no the case where lane line:
As shown in figure 5, when front truck this vehicle of fore-and-aft distance distance is close to (within 0.5m):
When front truck target lateral distance Dtargets≤0.5 meter, same object is regarded it as, distance property is according to two vehicles
The consideration nearest apart from this vehicle.And then it can determine whether as major heading.
When front truck target range Dtargets > 0.5 meter, lateral distance and that the smallest target of this vehicle consider further
Calculate whether it is major heading.Other target does not consider calculating major heading.
When front truck this vehicle of fore-and-aft distance distance is close to (be greater than 0.5m):
Nearest consideration further calculates whether it is major heading with this vehicle fore-and-aft distance.
In an embodiment of the present invention, finally only become effective target, it, just can be by certainly after judging it for major heading
Dynamic emergency braking function considers whether to be braked in the current situation.
The control method of vehicle braking according to an embodiment of the present invention, according to present image judge whether can in same vehicle
Barrier in road collides, so that the relative positional relationship of front obstacle Yu this vehicle direction lane is accurately identified, once
When determination can collide and reach braking distance, vehicle braking is controlled, realizes the accurate abrupt deceleration vehicle of relationship depending on the relative position
Purpose, avoid the occurrence of and accidentally brake or leakage brake, improve the safety and reliability of vehicle, promote user experience.
Referring next to the control device for the vehicle braking that attached drawing description proposes according to embodiments of the present invention.
Fig. 6 is the structural schematic diagram of the control device of the vehicle braking of the embodiment of the present invention.
As shown in fig. 6, the control device 10 of the vehicle braking includes: acquisition module 100, detection module 200 and control mould
Block 300.
Wherein, acquisition module 100 is used to acquire the present image and lane line information of vehicle front.Detection module 200 is used
In the current distance for detecting multiple barriers and vehicle.Control module 300 is used to determine that each barrier exists according to current distance
Current location in present image, and determine that current location can collide according to lane line information, and current distance reaches system
It is dynamic apart from when, control vehicle braking.The device 10 of the embodiment of the present invention can accurately identify front obstacle and this vehicle direction vehicle
The relative positional relationship in road, and then the accurate abrupt deceleration vehicle of relationship depending on the relative position avoid the occurrence of and accidentally brake or leak brake, mention
The safety and reliability of high vehicle promotes user experience.
Further, in one embodiment of the invention, control module includes: recognition unit, for according to current figure
Present image distance as identifying each barrier and vehicle；First acquisition unit, in present image distance and currently away from
From difference meet the first preset condition, and the relative angle of distance detector and image acquisition device meet the second preset condition
When, barrier is corresponding with the barrier of detection in present image, to obtain current location.
Further, in one embodiment of the invention, control module 300 further include: judging unit, second obtain list
Member and detection unit.
Wherein, whether judging unit is in disturbance in judgement object in lane line.Second acquisition unit is used in barrier in vehicle
When in diatom, the center line of barrier and the offset of lane center are obtained.Detection unit is used for the absolute value in offset
When less than or equal to the first preset value, judgement can collide.
Further, in one embodiment of the invention, the device 10 of the embodiment of the present invention further include: the first identification mould
Block and the second identification module.
Wherein, the first identification module, for when lane line information only includes side lane line, according to barrier and side
The width of the lateral distance cognitive disorders object of lane line, and it is less than or equal to second in the sum of the width of barrier and lateral distance
When preset value, control module is made to judge whether to collide.Second identification module, if not including two for lane line information
Side lane line, and current distance be less than preset threshold when, using lateral distance be less than pre-determined distance multiple barriers as individually
Object, and judge whether to collide.
It should be noted that the explanation of the aforementioned control method embodiment to vehicle braking is also applied for the embodiment
Vehicle braking control device, details are not described herein again.
The control device of vehicle braking according to an embodiment of the present invention, according to present image judge whether can in same vehicle
Barrier in road collides, so that the relative positional relationship of front obstacle Yu this vehicle direction lane is accurately identified, once
When determination can collide and reach braking distance, vehicle braking is controlled, realizes the accurate abrupt deceleration vehicle of relationship depending on the relative position
Purpose, avoid the occurrence of and accidentally brake or leakage brake, improve the safety and reliability of vehicle, promote user experience.
In addition, the embodiment of the present invention also proposes a kind of driving, which includes the control device of above-mentioned vehicle braking.
The vehicle can judge whether collide with the barrier in same lane according to present image, thus before accurately identifying
The relative positional relationship of square barrier and this vehicle direction lane, once it is determined that when can collide and reach braking distance, control
Vehicle braking realizes the purpose of the accurate abrupt deceleration vehicle of relationship depending on the relative position, avoids the occurrence of and accidentally brakes or leak brake, improves
The safety and reliability of vehicle promotes user experience.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of control method of vehicle braking characterized by comprising
Acquire the present image and lane line information of vehicle front；
Detect the current distance of the multiple barrier and the vehicle；And
Current location of each barrier in the present image is determined according to the current distance, and according to the lane line
Information determines that the current location can collide, and when the current distance reaches braking distance, controls the vehicle braking.
2. the control method of vehicle braking according to claim 1, which is characterized in that described true according to the current distance
Fixed current location of each barrier in the present image further comprises:
The present image distance of each barrier and the vehicle is identified according to the present image；
If the difference of the present image distance and the current distance meets the first preset condition, and distance detector and figure
As relative angle the second preset condition of satisfaction of collector, then barrier is opposite with the barrier of detection in the present image
It answers, to obtain the current location.
3. the control method of vehicle braking according to claim 1 or 2, which is characterized in that described according to the lane line
Information determines that the current location can collide, and further comprises:
Whether disturbance in judgement object is in lane line；
If the barrier in the lane line, obtains the offset of the center line and lane center of the barrier
Amount；
When the absolute value of the offset is less than or equal to the first preset value, judgement can collide.
4. the control method of vehicle braking according to claim 3, which is characterized in that further include:
If the lane line information only includes side lane line, according to the transverse direction of the barrier and the side lane line
Distance identifies the width of the barrier；
If the sum of the width of the barrier and the lateral distance are less than or equal to the second preset value, judge whether to send out
Raw collision.
5. the control method of vehicle braking according to claim 4, which is characterized in that further include:
If the lane line information do not include two sides lane line, and the current distance be less than preset threshold when, by the cross
Multiple barriers to distance less than pre-determined distance judge whether to collide as single body.
6. a kind of control device of vehicle braking characterized by comprising
Acquisition module, for acquiring the present image and lane line information of vehicle front；
Detection module, for detecting the current distance of the multiple barrier and the vehicle；And
Control module, for determining current location of each barrier in the present image according to the current distance, and
Determine that the current location can collide according to the lane line information, and when the current distance reaches braking distance, control
Make the vehicle braking.
7. the control device of vehicle braking according to claim 6, which is characterized in that the control module includes:
Recognition unit, for identifying the present image distance of each barrier and the vehicle according to the present image；
First acquisition unit meets the first preset condition for the difference in the present image distance and the current distance,
And when the relative angle of distance detector and image acquisition device the second preset condition of satisfaction, barrier and inspection in the present image
The barrier of survey is corresponding, to obtain the current location.
8. the control device of vehicle braking according to claim 6 or 7, which is characterized in that the control module further include:
Judging unit, for disturbance in judgement object whether in lane line；
Second acquisition unit, for obtaining the center line and vehicle of the barrier when the barrier is in the lane line
The offset of road center line；
Detection unit, when being less than or equal to the first preset value for the absolute value in the offset, judgement can collide.
9. the control device of vehicle braking according to claim 8, which is characterized in that further include:
First identification module, for when the lane line information only includes side lane line, according to the barrier and described
The lateral distance of side lane line identifies the width of the barrier, and the width of the barrier and the lateral distance it
When with being less than or equal to the second preset value, the control module is made to judge whether to collide；
Second identification module, if not including two sides lane line for the lane line information, and the current distance is less than in advance
If when threshold value, multiple barriers using the lateral distance less than pre-determined distance judge whether to occur as single body
Collision.
10. a kind of vehicle characterized by comprising the control device of vehicle braking as claim in any one of claims 6-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811317053.0A CN109572642B (en) | 2018-11-07 | 2018-11-07 | Vehicle braking control method and device and vehicle with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811317053.0A CN109572642B (en) | 2018-11-07 | 2018-11-07 | Vehicle braking control method and device and vehicle with same |
Publications (2)
| Publication Number | Publication Date |
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| CN109572642A true CN109572642A (en) | 2019-04-05 |
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